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<div class="title">correspondence_estimation_normal_shooting.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_NORMAL_SHOOTING_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_NORMAL_SHOOTING_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_types.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_estimation.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> NormalT, <span class="keyword">typename</span> Scalar = <span class="keywordtype">float</span>&gt;</div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html">   78</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html">CorrespondenceEstimationNormalShooting</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase</a>&lt;PointSource, PointTarget, Scalar&gt;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;CorrespondenceEstimationNormalShooting&lt;PointSource, PointTarget, NormalT, Scalar&gt; &gt; Ptr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const CorrespondenceEstimationNormalShooting&lt;PointSource, PointTarget, NormalT, Scalar&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::initCompute</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::initComputeReciprocal</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::input_transformed_</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointSource&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointSource&gt;::input_</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointSource&gt;::indices_</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::getClassName</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::point_representation_</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::target_indices_</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointTarget&gt;</a> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">KdTree</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::KdTree&lt;PointTarget&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::ConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::Ptr PointCloudTargetPtr;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::ConstPtr PointCloudTargetConstPtr;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;NormalT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudNormals</a>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudNormals::Ptr NormalsPtr;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudNormals::ConstPtr NormalsConstPtr;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#aae2aa6649dac6840562cf392d6c8fe8c">  114</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#aae2aa6649dac6840562cf392d6c8fe8c">CorrespondenceEstimationNormalShooting</a> ()</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          : <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a2ee2f0004f3cfd8463689c7c5f2cd5d6">source_normals_</a> ()</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a970b25748b2d88d9683594322b11e6de">source_normals_transformed_</a> ()</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a851e08a9f9c179228a59e39323bb9ca1">k_</a> (10)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#abafd815fa41e4762057c1351fa58c552">corr_name_</a> = <span class="stringliteral">&quot;CorrespondenceEstimationNormalShooting&quot;</span>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#af6c28e356be7e759e4f790405855f326">  123</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#af6c28e356be7e759e4f790405855f326">~CorrespondenceEstimationNormalShooting</a> () {}</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#af651fe7489cf7cab8eb622e1d77f642e">  129</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#af651fe7489cf7cab8eb622e1d77f642e">setSourceNormals</a> (<span class="keyword">const</span> NormalsConstPtr &amp;normals) { <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a2ee2f0004f3cfd8463689c7c5f2cd5d6">source_normals_</a> = normals; }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keyword">inline</span> NormalsConstPtr</div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#ae38f83809f3a4739b44098727a58eeba">  134</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#ae38f83809f3a4739b44098727a58eeba">getSourceNormals</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a2ee2f0004f3cfd8463689c7c5f2cd5d6">source_normals_</a>); }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a72059662927cecbee745994cf11f8f95">  139</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a72059662927cecbee745994cf11f8f95">requiresSourceNormals</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="keyword">        </span>{ <span class="keywordflow">return</span> (<span class="keyword">true</span>); }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a3c58891ab3b0bfd318c5a732adc3cd60">  144</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a3c58891ab3b0bfd318c5a732adc3cd60">setSourceNormals</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        { </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          NormalsPtr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudNormals</a>);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;          fromPCLPointCloud2 (*cloud2, *cloud);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#af651fe7489cf7cab8eb622e1d77f642e">setSourceNormals</a> (cloud);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a348a50a8b8a0d3c5b14704d283ce068c">determineCorrespondences</a> (pcl::Correspondences &amp;correspondences,</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                                  <span class="keywordtype">double</span> max_distance = std::numeric_limits&lt;double&gt;::max ());</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a93c946684ceff4a5686852be95852835">determineReciprocalCorrespondences</a> (pcl::Correspondences &amp;correspondences,</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                                            <span class="keywordtype">double</span> max_distance = std::numeric_limits&lt;double&gt;::max ());</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a6a9dba31ba0d0be3a2befe13a56a5f5a">  177</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a6a9dba31ba0d0be3a2befe13a56a5f5a">setKSearch</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k) { <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a851e08a9f9c179228a59e39323bb9ca1">k_</a> = k; }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a624e74883b42919e9ced84c360d21d1f">  184</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a624e74883b42919e9ced84c360d21d1f">getKSearch</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a851e08a9f9c179228a59e39323bb9ca1">k_</a>); }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keyword">virtual</span> boost::shared_ptr&lt; CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt; &gt; </div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a5abc2caed920d36cbf23e027d5294227">  188</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a5abc2caed920d36cbf23e027d5294227">clone</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;          Ptr copy (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html">CorrespondenceEstimationNormalShooting&lt;PointSource, PointTarget, NormalT, Scalar&gt;</a> (*<span class="keyword">this</span>));</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          <span class="keywordflow">return</span> (copy);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::corr_name_</a>;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::tree_</a>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::tree_reciprocal_</a>;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::target_</a>;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#af979935c7f43038ab68ad6d0d701a801">initCompute</a> ();</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;       <span class="keyword">private</span>:</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a2ee2f0004f3cfd8463689c7c5f2cd5d6">  208</a></span>&#160;        NormalsConstPtr <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a2ee2f0004f3cfd8463689c7c5f2cd5d6">source_normals_</a>;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a970b25748b2d88d9683594322b11e6de">  211</a></span>&#160;        NormalsPtr <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a970b25748b2d88d9683594322b11e6de">source_normals_transformed_</a>;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a851e08a9f9c179228a59e39323bb9ca1">  214</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a851e08a9f9c179228a59e39323bb9ca1">k_</a>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    };</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;}</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/correspondence_estimation_normal_shooting.hpp&gt;</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_NORMAL_SHOOTING_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase</a></div><div class="ttdoc">Abstract CorrespondenceEstimationBase class. All correspondence estimation methods should inherit fro...</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html_abafd815fa41e4762057c1351fa58c552"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#abafd815fa41e4762057c1351fa58c552">pcl::registration::CorrespondenceEstimationBase&lt; PointSource, PointTarget, float &gt;::corr_name_</a></div><div class="ttdeci">std::string corr_name_</div><div class="ttdoc">The correspondence estimation method name.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:301</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html">pcl::registration::CorrespondenceEstimationNormalShooting</a></div><div class="ttdoc">CorrespondenceEstimationNormalShooting computes correspondences as points in the target cloud which h...</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.h:79</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_a2ee2f0004f3cfd8463689c7c5f2cd5d6"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a2ee2f0004f3cfd8463689c7c5f2cd5d6">pcl::registration::CorrespondenceEstimationNormalShooting::source_normals_</a></div><div class="ttdeci">NormalsConstPtr source_normals_</div><div class="ttdoc">The normals computed at each point in the source cloud</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.h:208</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_a348a50a8b8a0d3c5b14704d283ce068c"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a348a50a8b8a0d3c5b14704d283ce068c">pcl::registration::CorrespondenceEstimationNormalShooting::determineCorrespondences</a></div><div class="ttdeci">void determineCorrespondences(pcl::Correspondences &amp;correspondences, double max_distance=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdoc">Determine the correspondences between input and target cloud.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.hpp:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_a3c58891ab3b0bfd318c5a732adc3cd60"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a3c58891ab3b0bfd318c5a732adc3cd60">pcl::registration::CorrespondenceEstimationNormalShooting::setSourceNormals</a></div><div class="ttdeci">void setSourceNormals(pcl::PCLPointCloud2::ConstPtr cloud2)</div><div class="ttdoc">Blob method for setting the source normals</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.h:144</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_a5abc2caed920d36cbf23e027d5294227"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a5abc2caed920d36cbf23e027d5294227">pcl::registration::CorrespondenceEstimationNormalShooting::clone</a></div><div class="ttdeci">virtual boost::shared_ptr&lt; CorrespondenceEstimationBase&lt; PointSource, PointTarget, Scalar &gt; &gt; clone() const</div><div class="ttdoc">Clone and cast to CorrespondenceEstimationBase</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_a624e74883b42919e9ced84c360d21d1f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a624e74883b42919e9ced84c360d21d1f">pcl::registration::CorrespondenceEstimationNormalShooting::getKSearch</a></div><div class="ttdeci">unsigned int getKSearch() const</div><div class="ttdoc">Get the number of nearest neighbours considered in the target point cloud for computing correspondenc...</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.h:184</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_a6a9dba31ba0d0be3a2befe13a56a5f5a"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a6a9dba31ba0d0be3a2befe13a56a5f5a">pcl::registration::CorrespondenceEstimationNormalShooting::setKSearch</a></div><div class="ttdeci">void setKSearch(unsigned int k)</div><div class="ttdoc">Set the number of nearest neighbours to be considered in the target point cloud. By default,...</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_a72059662927cecbee745994cf11f8f95"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a72059662927cecbee745994cf11f8f95">pcl::registration::CorrespondenceEstimationNormalShooting::requiresSourceNormals</a></div><div class="ttdeci">bool requiresSourceNormals() const</div><div class="ttdoc">See if this rejector requires source normals</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.h:139</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_a851e08a9f9c179228a59e39323bb9ca1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a851e08a9f9c179228a59e39323bb9ca1">pcl::registration::CorrespondenceEstimationNormalShooting::k_</a></div><div class="ttdeci">unsigned int k_</div><div class="ttdoc">The number of neighbours to be considered in the target point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.h:214</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_a93c946684ceff4a5686852be95852835"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a93c946684ceff4a5686852be95852835">pcl::registration::CorrespondenceEstimationNormalShooting::determineReciprocalCorrespondences</a></div><div class="ttdeci">virtual void determineReciprocalCorrespondences(pcl::Correspondences &amp;correspondences, double max_distance=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdoc">Determine the reciprocal correspondences between input and target cloud. A correspondence is consider...</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.hpp:174</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_a970b25748b2d88d9683594322b11e6de"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#a970b25748b2d88d9683594322b11e6de">pcl::registration::CorrespondenceEstimationNormalShooting::source_normals_transformed_</a></div><div class="ttdeci">NormalsPtr source_normals_transformed_</div><div class="ttdoc">The normals computed at each point in the source cloud</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.h:211</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_aae2aa6649dac6840562cf392d6c8fe8c"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#aae2aa6649dac6840562cf392d6c8fe8c">pcl::registration::CorrespondenceEstimationNormalShooting::CorrespondenceEstimationNormalShooting</a></div><div class="ttdeci">CorrespondenceEstimationNormalShooting()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_ae38f83809f3a4739b44098727a58eeba"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#ae38f83809f3a4739b44098727a58eeba">pcl::registration::CorrespondenceEstimationNormalShooting::getSourceNormals</a></div><div class="ttdeci">NormalsConstPtr getSourceNormals() const</div><div class="ttdoc">Get the normals of the source point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_af651fe7489cf7cab8eb622e1d77f642e"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#af651fe7489cf7cab8eb622e1d77f642e">pcl::registration::CorrespondenceEstimationNormalShooting::setSourceNormals</a></div><div class="ttdeci">void setSourceNormals(const NormalsConstPtr &amp;normals)</div><div class="ttdoc">Set the normals computed on the source point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_af6c28e356be7e759e4f790405855f326"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#af6c28e356be7e759e4f790405855f326">pcl::registration::CorrespondenceEstimationNormalShooting::~CorrespondenceEstimationNormalShooting</a></div><div class="ttdeci">virtual ~CorrespondenceEstimationNormalShooting()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_normal_shooting_html_af979935c7f43038ab68ad6d0d701a801"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_normal_shooting.html#af979935c7f43038ab68ad6d0d701a801">pcl::registration::CorrespondenceEstimationNormalShooting::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">Internal computation initalization.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_normal_shooting.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt; PointTarget &gt;</a></div></div>
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